Publication

EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles

Conference Article

Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Edition

2011

Pages

2646-2652

Doc link

http://dx.doi.org/10.1109/IROS.2011.6048409

File

Download the digital copy of the doc pdf document

Abstract

Existing sampling-based robot motion planning methods are often inefficient at finding trajectories for kinodynamic systems, especially in the presence of narrow passages between obstacles and uncertainty in control and sensing. To address this, we propose EG-RRT, an Environment-Guided variant of RRT designed for kinodynamic robot systems that combines elements from several prior approaches and may incorporate a cost model based on the LQG-MP framework to estimate the probability of collision under uncertainty in control and sensing. We compare the performance of EG-RRT with several prior approaches on challenging sample problems. Results suggest that EG-RRT offers significant improvements in performance.

Categories

robots.

Scientific reference

L. Jaillet, J. Hoffman, J. van den Berg, P. Abbeel, J.M. Porta and K. Goldberg. EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, San Francisco, CA, USA, pp. 2646-2652, IEEE Press.